Page 36 - Welding Robots Technology, System Issues, and Applications

Welding Robots
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cope with production variations. Since a remote interface is used (Figure 1.9 and
Figure 1.10), the necessary adjustments are executed on-line without stopping
production. Those operations include:

1. Adjusting the deburring angle, i.e., the angle between the border of the glass
and the deburring belt. The angle introduced is added to the programmed one,
so that zero degrees means keeping the programmed angle unchanged.
2. Adjusting the force on the belt during the deburring operation (adjusted by
position). The commanded value is entered in millimeters and updates the
actual position in the direction perpendicular to the belt and parallel to the
surface of the glass.
3. Adjusting the deburring speed.
4. Maintenance procedures necessary to change the belts after the planned
deburring cycles.

Figure 1.9. Operator interface for de-palletizing robot

The de-palletizing robot requires less parameterization since it executes a very
simple operation. Besides that, the gripper adapts to the surface of every model of
glass, using presence sensors strategically placed near two suction caps (see Figure
1.8), with the objective of having an efficient de-palletizing operation.
Nevertheless, the operator is able to change the velocity of the process by stating a
slow, fast or very fast cycle to adjust to production needs, suspend and resume